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| /***************************************************************************** |
| * Copyright (C) 2009 Peter "woggle" Mack, mac@denich.net * |
| * * |
| * This program is free software; you can redistribute it and/or modify * |
| * it under the terms of the GNU General Public License as published by * |
| * the Free Software Foundation; either version 2 of the License. * |
| * * |
| * This program is distributed in the hope that it will be useful, * |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
| * GNU General Public License for more details. * |
| * * |
| * You should have received a copy of the GNU General Public License * |
| * along with this program; if not, write to the * |
| * Free Software Foundation, Inc., * |
| * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
| * * |
| *****************************************************************************/ |
| |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <avr/pgmspace.h> |
| #include <string.h> |
| #include <util/twi.h> |
| |
| #include "main.h" |
| #include "motortest.h" |
| #include "lcd.h" |
| #include "usart.h" |
| #include "timer.h" |
| |
| |
| uint8_t m; |
| |
| |
| #define SCL_FREQ 200000L |
| |
| #define I2C_STATE_TX_ADDRESS 0 |
| #define I2C_STATE_TX_DATA 1 |
| #define I2C_STATE_TX_STOP 2 |
| #define I2C_STATE_RX_ADDRESS 3 |
| #define I2C_STATE_RX_1BYTE 4 |
| #define I2C_STATE_RX_2BYTE 5 |
| |
| volatile uint8_t i2c_state; |
| volatile uint8_t motor_addr = 0; |
| |
| //***************************************************************************** |
| // |
| void I2C_Init(void) |
| { |
| uint8_t sreg = SREG; |
| cli(); |
| |
| DDRC &= ~(1<<DDC1); // SDA is input |
| DDRC |= (1<<DDC0); // SCL is output |
| PORTC |= (1<<PORTC0)|(1<<PORTC1); // pull up SDA and SCL |
| |
| // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
| TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
| |
| TWBR = ((F_CPU/SCL_FREQ)-16)/2; |
| |
| i2c_state = I2C_STATE_TX_ADDRESS; |
| |
| SREG = sreg; |
| } |
| |
| //***************************************************************************** |
| // |
| void I2C_Start(uint8_t start_state) |
| { |
| i2c_state = start_state; |
| |
| // generate start condition and enable interrupts |
| TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN) | (1<<TWIE); |
| } |
| |
| //***************************************************************************** |
| // |
| void I2C_Stop(uint8_t start_state) |
| { |
| i2c_state = start_state; |
| |
| // generate stop condition and disable interrupt |
| TWCR = (1<<TWINT) | (1<<TWSTO) | (1<<TWEN); |
| } |
| |
| //***************************************************************************** |
| // |
| void I2C_WriteByte(int8_t b) |
| { |
| TWDR = b; |
| // clear interrupt flag (TWINT = 1) |
| // enable i2c bus (TWEN = 1) |
| // enable interrupt (TWIE = 1) |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| } |
| |
| //***************************************************************************** |
| // |
| void I2C_ReceiveByte(void) |
| { |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| } |
| |
| //***************************************************************************** |
| // |
| void I2C_ReceiveLastByte(void) |
| { |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| } |
| |
| |
| //***************************************************************************** |
| // |
| ISR (TWI_vect) |
| { |
| int8_t mrCurrent; |
| int8_t mrMaxpwm; |
| |
| switch (i2c_state++) |
| { |
| // TWI Master Transmit |
| case I2C_STATE_TX_ADDRESS: |
| I2C_WriteByte(0x52 + (motor_addr * 2) ); // select slave adress in tx mode |
| break; |
| |
| case I2C_STATE_TX_DATA: |
| I2C_WriteByte(m); |
| break; |
| |
| case I2C_STATE_TX_STOP: |
| if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
| { |
| // error occured |
| } |
| I2C_Stop(I2C_STATE_TX_ADDRESS); |
| I2C_Start(I2C_STATE_RX_ADDRESS); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
| break; |
| |
| // Master Receive Data |
| case I2C_STATE_RX_ADDRESS: |
| I2C_WriteByte(0x53 + (motor_addr * 2) ); // select slave adress in rx mode |
| if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted, if not ACK received |
| { // no response from the addressed slave received |
| I2C_Stop(I2C_STATE_TX_ADDRESS); |
| } |
| else |
| { |
| I2C_ReceiveByte(); //Transmit 1st byte |
| } |
| break; |
| |
| case I2C_STATE_RX_1BYTE: //Read 1st byte and transmit 2nd Byte |
| mrCurrent = TWDR; |
| I2C_ReceiveLastByte(); // nack |
| break; |
| |
| case I2C_STATE_RX_2BYTE: |
| //Read 2nd byte |
| mrMaxpwm = TWDR;; |
| I2C_Stop(I2C_STATE_TX_ADDRESS); |
| break; |
| |
| default: |
| I2C_Stop(I2C_STATE_TX_ADDRESS); |
| break; |
| } |
| } |
| |
| //***************************************************************************** |
| // |
| void motor_i2c (void) |
| { |
| uint8_t blc = 0; |
| |
| lcd_cls (); |
| m = 0; |
| |
| lcd_printp (PSTR("I2C Motor Test"), 0); |
| lcd_printpns_at (0, 7, PSTR("dec inc Exit Off"), 0); |
| |
| lcd_printp (PSTR("BLC #"), 0); |
| |
| do |
| { |
| if ((get_key_press (1 << KEY_PLUS) || get_key_rpt (1 << KEY_PLUS)) && (m < 254)) |
| { |
| m++; |
| } |
| if ((get_key_press (1 << KEY_MINUS) || get_key_rpt (1 << KEY_MINUS)) && (m > 0)) |
| { |
| lcd_frect (GX, GY, (m * 108) / 255, 10, 0); |
| m--; |
| } |
| if (get_key_press (1 << KEY_ENTER)) |
| { |
| lcd_frect (GX, GY, (m * 108) / 255, 10, 0); |
| m = 0; |
| } |
| } |
| while (!get_key_press (1 << KEY_ESC)); |
| |
| // switch all engines off at exit ! |
| } |
| |
| |
| //***************************************************************************** |
| // |
| void motor (uint8_t m) |
| { |
| memset (buffer, m, 16); |
| #if 0 |
| buffer[0] = m; // 0 |
| buffer[1] = m; // 1 |
| buffer[2] = m; // 2 |
| buffer[3] = m; // 3 |
| buffer[4] = m; // 4 |
| buffer[5] = m; // 5 |
| buffer[6] = m; // 6 |
| buffer[7] = m; // 7 |
| buffer[8] = m; // 8 |
| buffer[9] = m; // 9 |
| buffer[10] = m; // 10 |
| buffer[11] = m; // 11 |
| buffer[12] = m; // 12 |
| buffer[13] = m; // 13 |
| buffer[14] = m; // 14 |
| buffer[15] = m; // 15 |
| #endif |
| SendOutData('t', ADDRESS_FC, 1, buffer, 16); |
| |
| // hier könnte man noch eine I2C-Ausgabe einbauen... |
| |
| lcd_frect (GX, GY, (m * 108) / 255, 10, 1); |
| write_ndigit_number_u (MX, MY, m, 3, 0); |
| } |
| |
| //***************************************************************************** |
| // |
| void motor_test (void) |
| { |
| //uint8_t m; |
| |
| lcd_cls (); |
| m = 0; |
| |
| lcd_printp (PSTR("Motor Test"), 0); |
| lcd_printpns_at (0, 7, PSTR("dec inc Exit Off"), 0); |
| |
| if (hardware == NC && current_hardware == NC) |
| { |
| SwitchToFC(); |
| } |
| |
| motor (m); |
| |
| do |
| { |
| if ((get_key_press (1 << KEY_PLUS) || get_key_rpt (1 << KEY_PLUS)) && (m < 254)) |
| { |
| m++; |
| } |
| if ((get_key_press (1 << KEY_MINUS) || get_key_rpt (1 << KEY_MINUS)) && (m > 0)) |
| { |
| lcd_frect (GX, GY, (m * 108) / 255, 10, 0); |
| m--; |
| } |
| if (get_key_press (1 << KEY_ENTER)) |
| { |
| lcd_frect (GX, GY, (m * 108) / 255, 10, 0); |
| m = 0; |
| } |
| motor (m); |
| } |
| while (!get_key_press (1 << KEY_ESC)); |
| |
| // switch all engines off at exit ! |
| motor (0); |
| } |